【作者】 张旭；

【导师】 陈军；

【作者基本信息】 哈尔滨工业大学 ， 机械工程（专业学位）， 2018， 硕士

【摘要】 自从进入工业化时代,管道的应用已经渗透到生产生活的各个方面。管内机器人作为在管道内进行一系列作业的机电一体化系统,降低了人工作业的危险性和劳动强度,增加了管内作业的可靠性。目前,管内机器人驱动方式比较单一,较难满足复杂的管道环境需求,在此前提上,提出复合驱动管内机器人的概念,其应满足续航能力强、功能多样化、稳定性高的性能指标,本文则针对复合驱动管内机器人转向运动过程进行稳定性研究。基于“复合(驱动)”原理建立复合驱动管内机器人通用物理模型,以其为研究对象进行静力学分析,计算复合驱动力与管内阻力;在考虑空间约束的情况下,得到机器人的运动模型,针对机器人转向过程进行动力学建模。建立复合驱动管内机器人的稳定性与转向过程位姿变化,引入ZMP的概念及ZMP稳定性分析方法,采用位姿矩阵对管内机器人转向过程进行描述,并通过MATLAB仿真计算得到不同位姿角机器人行走轮与管壁间隙的变化趋势。基于虚拟样机技术,对单节单元体、双节单元体、不同位姿角下机器人通过90°弯管的转向过程进行ADAMS仿真,对比分析单节单元体与双节单元体在转向过程中的运动特性,机器人在不同位姿角时通过弯管的对稳定性的影响;通过CFD算法建立的流体计算模型,研究分析改变皮碗位置以及皮碗与管壁间隙大小时对流场速度矢量与压力分布的影响;基于四种不同工况,对管内机器人转向过程中电机与流体驱动耦合作用下的运动特性进行数值描述。搭建试验平台,进行注水管内简易原理样机的试验测试。通过牵引力测试与不同工况下机器人转向过程的试验,对本文理论建模仿真及复合驱动的运动特性进行验证,为复合驱动管内机器人技术的进一步研究奠定基础。更多还原

【Abstract】 The application of pipelines has penetrated into all aspects of production and life since the beginning of the industrial age.AS an electromechanical integrated system performing a series of operations in the pipeline,the in-pipe robot reduces the risk of manual operations and labor intensity,and increases the operation reliability within the pipe.At present,though most of the in-pipe robot driving methods are relatively single,it is difficult to meet the needs of complex pipeline environments.On this basis,the concept of a compound-driving in-pipe robot was proposed,which may satisfies the performance requirements of strong endurance ability,diversified functions and high stability.Aiming at the compound driving in-pipe robot,the stability of steering movement process is studied in this paper.Based on the principle of "compound(driving)",this paper establishes a general physical model of the compound-driving in-pipe robot.First of all,taking it as the research object,static analysis including the composite driving force and the resistance in the pipe are performed on the model.Considering the space constraints,spatial motion equation and dynamic modeling aiming at the steering movement process are obtained.The stability and steering movement process of the compound driving in-pipe robot are described.The concept of ZMP and the stability analysis method of ZMP are introduced.The steering movement process of the in-pipe robot is described by the pose matrix.The gap changing trend between the traveling wheel of the robot with different postures angles and the pipe wall are calculated by MATLAB simulation.Based on the virtual prototyping technology,the single-unit body,double-unit body,and robots with different posture angles passing through the 90° bend pipe are simulated by ADAMS.The movement characteristics of single-unit body,double-unit body and the influences concerning stability of the in-pipe robot with different pose angles passing through bends are contrasted and analyzed.Based on the CFD algorithm,the velocity vector and pressure distribution of the flow field when changing the position of the leather bowl and the gap between the leather bowl and the pipe wall are described by the fluid computation model.In the light of the four different working conditions of robot,the kinematics characteristics under the coupling effect of motor drive and fluid drive in steering movement process are numerically described and analyzed.The experiment platform was built and the experiment of the simple principle prototype in water filled pipe was completed.The correctness of the theoretical analysis and the movement characteristics of the compound driving are verified by the experiments of the traction force and the steering movement process of the in-pipe robot under different working conditions,which lay a foundation for the further research of the compound driving in-pipe robot technology.更多还原